Fast and Robust Numerical Solutions to Minimal Problems for Cameras with Radial Distortion
Författare
Summary, in English
A number of minimal problems of structure from motion for
cameras with radial distortion have recently been studied and solved
in some cases. These problems are known to be numerically very
challenging and in several cases there exist no known practical
algorithm yielding solutions in floating point arithmetic. We make
some crucial observations concerning the floating point implementation
of Gröbner basis computations and use these new insights to formulate fast and
stable algorithms for two minimal problems with radial distortion
previously solved in exact rational arithmetic only: (i) simultaneous
estimation of essential matrix and a common radial distortion
parameter for two partially calibrated views and six image point
correspondences and (ii) estimation of fundamental matrix and two
different radial distortion parameters for two uncalibrated views and
nine image point correspondences. We demonstrate on simulated and
real experiments that these two problems can be efficiently solved in
floating point arithmetic.
cameras with radial distortion have recently been studied and solved
in some cases. These problems are known to be numerically very
challenging and in several cases there exist no known practical
algorithm yielding solutions in floating point arithmetic. We make
some crucial observations concerning the floating point implementation
of Gröbner basis computations and use these new insights to formulate fast and
stable algorithms for two minimal problems with radial distortion
previously solved in exact rational arithmetic only: (i) simultaneous
estimation of essential matrix and a common radial distortion
parameter for two partially calibrated views and six image point
correspondences and (ii) estimation of fundamental matrix and two
different radial distortion parameters for two uncalibrated views and
nine image point correspondences. We demonstrate on simulated and
real experiments that these two problems can be efficiently solved in
floating point arithmetic.
Avdelning/ar
- Matematik LTH
- Mathematical Imaging Group
Publiceringsår
2008
Språk
Engelska
Sidor
2586-2593
Publikation/Tidskrift/Serie
[Host publication title missing]
Fulltext
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Dokumenttyp
Konferensbidrag
Ämne
- Mathematics
- Computer Vision and Robotics (Autonomous Systems)
Conference name
IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPR Workshops), 2008
Conference date
2008-06-23 - 2008-06-28
Conference place
Anchorage, Alaska, United States
Status
Published
Forskningsgrupp
- Mathematical Imaging Group